Robot controller having function to simplify teaching operation and improve motion performance of robot

Abstract

A robot controller capable of easily speeding up the motion of a robot by learning, without using a special device and teaching know-how. The robot controller has a storing part which stores a reference motion pattern of the robot; an inputting part which designates at least one of a working start region where a motion of the robot based on the reference motion pattern is initiated and a working end region where the motion of the robot is terminated; an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern and divided regions formed by dividing a working region at a predetermined resolution; and a learning control part which learns a motion speed-up ratio for speeding up the motion by changing a velocity or acceleration in relation to each of the automatically generated motion patterns.

The invention claimed is: 
     
       1. A robot controller for controlling a robot which is operated in a predetermined working region while correcting a position and orientation of the robot, comprising:
 a storing part which stores a reference motion pattern of the robot; 
 an inputting part which designates at least one of a working start region in which a motion of the robot based on the reference motion pattern is initiated and a working end region in which the motion of the robot based on the reference motion pattern is terminated; 
 an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern stored in the storing part and divided regions formed by dividing a working region designated by the inputting part at a predetermined resolution; and 
 a learning control part which learns a motion speed-up ratio for speeding-up the motion of the robot by changing a velocity or acceleration in relation to each motion pattern automatically generated by the automatic generating part. 
 
     
     
       2. The robot controller as set forth in  claim 1 , wherein the motion pattern of the robot includes a motion for gripping a workpiece which is positioned in the working start region at arbitrary position and orientation, and a motion for locating the gripped workpiece in the working end region. 
     
     
       3. The robot controller as set forth in  claim 1 , wherein the learning control part calculates the motion speed-up ratio in relation to each motion pattern, based on an allowable load of a motor for driving each axis of the robot and a load of the motor during executing the motion pattern. 
     
     
       4. The robot controller as set forth in  claim 1 , wherein the learning control part calculates the motion speed-up ratio in relation to each motion pattern, based on a difference between a command value and a feedback value for a motor for driving each axis of the robot. 
     
     
       5. The robot controller as set forth in  claim 3 , wherein the learning control part searches a learned motion from past learning data, before executing a regenerated motion based on the learned motion speed-up ratio, and then, when the learned motion similar to the regenerated motion exists in the past learning data, the learning control part corrects the motion speed-up ratio of the regenerated motion based on and the motion speed-up ratio associated with the learned motion and a difference between motion information of the regenerated motion and the learned motion. 
     
     
       6. The robot controller as set forth in  claim 4 , wherein the learning control part searches a learned motion from past learning data, before executing a regenerated motion based on the learned motion speed-up ratio, and then, when the learned motion similar to the regenerated motion exists in the past learning data, the learning control part corrects the motion speed-up ratio of the regenerated motion based on and the motion speed-up ratio associated with the learned motion and a difference between motion information of the regenerated motion and the learned motion.